Applying Sliding Mode Control to Massage Robot Apply for Healthcare Therapy

Today in epoch modern life, everyone needs some time to relax and take a break. There are many to relax so a good way to do it is through massage. So many physicians are needed these days. In order to promote the experience and skills of experts and reduce labor during the massage, a massage robot which can be replaced by the expert techniques with individualized manipulation parameter and strategy control is present in this paper. The massage therapy trajectory of end-effort is determined by using image processing which is described and information from image data also extracted to control massage robot. Since the robot is non-linear system. We can use many algorithms for control robot as PID, Fuzzy, PD-Fuzzy, etc. However, parameters of PID and Fuzzy controller can be chosen due to expert's experiences. A Sling Mode Controller (SMC) is applied to control massage robot for set point.